diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index e1503da36a..66316d0c64 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -166,7 +166,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if RPM_ENABLED == ENABLED
     SCHED_TASK(rpm_update,            40,    200),
 #endif
-    SCHED_TASK(compass_cal_update,   100,    100),
+    SCHED_TASK_CLASS(Compass, &copter.compass, cal_update, 100, 100),
     SCHED_TASK(accel_cal_update,      10,    100),
     SCHED_TASK_CLASS(AP_TempCalibration,   &copter.g2.temp_calibration, update,          10, 100),
 #if HAL_ADSB_ENABLED
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index e9764a0e92..24617a8925 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -864,7 +864,6 @@ private:
     bool rangefinder_up_ok() const;
     void rpm_update();
     void update_optical_flow(void);
-    void compass_cal_update(void);
     void accel_cal_update(void);
     void init_proximity();
     void update_proximity();
diff --git a/ArduCopter/sensors.cpp b/ArduCopter/sensors.cpp
index 769838d275..243d0cb981 100644
--- a/ArduCopter/sensors.cpp
+++ b/ArduCopter/sensors.cpp
@@ -162,35 +162,6 @@ void Copter::rpm_update(void)
 #endif
 }
 
-void Copter::compass_cal_update()
-{
-    compass.cal_update();
-
-    if (hal.util->get_soft_armed()) {
-        return;
-    }
-
-    static uint32_t compass_cal_stick_gesture_begin = 0;
-
-    if (compass.is_calibrating()) {
-        if (channel_yaw->get_control_in() < -4000 && channel_throttle->get_control_in() > 900) {
-            compass.cancel_calibration_all();
-        }
-    } else {
-        bool stick_gesture_detected = compass_cal_stick_gesture_begin != 0 && !motors->armed() && channel_yaw->get_control_in() > 4000 && channel_throttle->get_control_in() > 900;
-        uint32_t tnow = millis();
-
-        if (!stick_gesture_detected) {
-            compass_cal_stick_gesture_begin = tnow;
-        } else if (tnow-compass_cal_stick_gesture_begin > 1000*COMPASS_CAL_STICK_GESTURE_TIME) {
-#ifdef CAL_ALWAYS_REBOOT
-            compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,true);
-#else
-            compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,false);
-#endif
-        }
-    }
-}
 
 void Copter::accel_cal_update()
 {